It should be noted that it is extremely unlikely that the machine level instruction format for the I/O processor will resemble the machine level instruction format for the main system processor. They are (normally) two very different kinds of processors (although there are rare exceptions, as in the case of some LAN-NIC, Local Area Network - Network Interface Cards, which used an Intel 80186 processor for I/O, in IBM-PC type systems whose main processor was a member of the 80x86 family).
Single byte I/O is more problematic (for example, keyboard input). Here the "set-up" required for a main processor to instruct an I/O processor to perform the input (or output) is virtually equivalent to activity required for the main processor to perform the I/O operation itself.